Optimal Motion Planning of Connected and Automated Vehicles at Signal-free Intersections Considering Passenger Comfort

Akira Kuchiki, Toru Namerikawa
In this paper, we address the coordination problem of CAVs at signal-free intersections. First, the problem is formulated using mixed-integer linear programming(MILP), and the solution gives the appropriate merge time for each CAV. Next, an optimal control problem is formulated to find the jerk required to achieve the assigned merging time exactly while minimizing the jerk. In addition, by minimizing both jerk and acceleration, we achieve both passenger comfort and fuel reduction of fuel consumption.
doi:10.11511/jacc.64.0_848 fatcat:cus6t3bha5gwrcusoe6ybqgerq